A control device and system for radio frequency microneedle interval needle body movement synchronous energy output

Abstract

The application discloses a kind of control device and system of radio frequency microneedle interval needle body movement synchronous energy output, device includes: main controller according to preset path control XY axis horizontal movement mechanism and move microneedle array to target target point coordinate, after confirming in place, lock XY axis horizontal movement mechanism;Control Z axis lifting mechanism drives microneedle array and vertically pierces into skin to preset depth;Before radio frequency energy output, real-time detection loop biological impedance value carries out handshake verification, only when biological impedance value is in effective coupling interval, trigger radio frequency generator and output energy;During the whole energy output process, XY axis horizontal movement mechanism is kept in locked state;After energy output ends, control Z axis lifting mechanism vertically withdraws, and after microneedle array is separated from skin, release lock and execute next position movement.Effective solution skin mechanical damage problem, and the risk of empty firing or burn due to lack of contact detection, significantly improve the precision, uniformity and safety of treatment.

Description

Technical Field

[0001] This invention relates to the field of medical aesthetics and dermatology treatment equipment technology, and in particular to a control device and system for synchronous energy output of radiofrequency microneedles with intermittent needle movement. Background Technology

[0002] Existing radiofrequency microneedle therapy devices still face several unresolved technical bottlenecks in clinical applications, primarily focusing on three aspects: mechanical control precision, energy output uniformity, and operational safety.

[0003] First, traditional radiofrequency microneedle handpieces are mostly manually operated or driven by a simple single-axis motor. During treatment, the operator needs to manually move the handpiece to the next treatment point. This method of operation is highly dependent on the doctor's experience and makes it difficult to ensure the uniformity of treatment point distribution. More seriously, some semi-automatic devices lack strict motion logic locking. If horizontal displacement occurs before the needle has completely withdrawn from the skin, the needle will plough across the subcutaneous tissue, causing severe mechanical scratches and tears to the epidermis, leading to postoperative pigmentation or scarring.

[0004] Secondly, existing devices mostly use a constant power mode for energy output control, meaning that the same radiofrequency energy is output regardless of whether the needle is inserted into the forehead (thin skin, little subcutaneous fat, high impedance) or the cheek (thick skin, high water content, low impedance). According to Joule's law, when the resistance in the current path differs greatly, a constant power output will result in vastly different amounts of heat (temperature). This directly leads to extremely uneven treatment effects for the same patient at different sites, and may even result in local burns or ineffective treatment.

[0005] Finally, the lack of safety monitoring methods is another major pain point of existing technologies. Most devices cannot detect whether the needle has actually pierced the skin. Once the microneedle is suspended in mid-air, a high-voltage arc will be generated on the skin surface, causing epidermal carbonization. At the same time, the system also lacks a millisecond-level emergency stop mechanism for unconscious movements caused by pain during treatment.

[0006] Therefore, developing a control method and system that can achieve precise micron-level interval movement, has a Z-axis vertical insertion and XY-axis horizontal locking interlocking mechanism, and can adaptively adjust energy output in real time according to bioimpedance is an urgent need for the current development of radiofrequency microneedle technology. Summary of the Invention

[0007] This invention provides a control device and system for synchronous energy output of radiofrequency microneedles with intermittent needle movement, aiming to solve the problems of uneven treatment, inaccurate energy control, and safety issues caused by asynchronous movement and radiofrequency in the prior art.

[0008] A control device for synchronous energy output during the intermittent movement of radiofrequency microneedles is applied to a treatment system comprising a microneedle array, an XY-axis horizontal movement mechanism, a Z-axis lifting mechanism, and a radiofrequency generator. The control device includes:

[0009] The positioning control module is used to control the XY-axis horizontal moving mechanism to drive the microneedle array to the current target point coordinates according to the preset scanning path;

[0010] After confirming the arrival at the coordinates, the XY-axis horizontal movement mechanism is locked, putting it into a horizontal self-locking state;

[0011] The feed control module is used to control the Z-axis lifting mechanism to drive the microneedle array to feed vertically so that it reaches the preset working depth;

[0012] The impedance detection handshake module is used to send a microampere-level test current to the microneedle array before the RF energy output to detect the bioimpedance value of the circuit.

[0013] A handshake signal is generated only when the bioimpedance value is within a preset effective coupling range;

[0014] An energy triggering module is used to trigger the radio frequency generator to output radio frequency energy after receiving the handshake signal;

[0015] The dynamic displacement monitoring safety module is used to continuously monitor the rate of change of bioimpedance values ​​during radio frequency energy output.

[0016] If the rate of change of bioimpedance exceeds the preset sliding threshold during a single energy output, it is determined that the microneedle array has undergone relative displacement with the skin, the radio frequency output is immediately cut off, and the Z-axis is triggered to lift urgently.

[0017] The retraction unlocking module is used to control the Z-axis lifting mechanism to drive the microneedle array to retract to a safe height after the energy output is completed.

[0018] After confirming that the Z-axis has retracted to the correct position, release the lock on the XY-axis horizontal movement mechanism and execute the movement command for the next target point.

[0019] The energy triggering module uses time-division multiplexing for energy output and temperature detection.

[0020] Divide a complete energy output cycle into several microsecond-level time slices;

[0021] During the transmission window of each time slice, the radio frequency generator is turned on to output energy, while the signal channel of the temperature sensor is shielded to prevent interference.

[0022] During the detection window of each time slice, the radio frequency generator is temporarily turned off, while the signal channel of the temperature sensor is turned on to collect the tip temperature.

[0023] If the collected tip temperature exceeds the safety threshold, the current energy output cycle will be forcibly terminated.

[0024] The control device is also configured to perform layered needle withdrawal treatment:

[0025] The microneedle array is controlled to first reach the deepest first working depth and output the first dose of radio frequency energy;

[0026] Maintain XY axis locking, control Z axis lifting mechanism to raise to a shallower second working depth, and output second dose of radio frequency energy;

[0027] The first dose is greater than the second dose, so as to form an inverted pyramid-shaped thermal coagulation field during a single needle insertion.

[0028] Preferably, in the impedance detection handshake module, determining whether the bio-impedance value is within a preset effective coupling range specifically includes anti-dry-fire and anti-short-circuit logic:

[0029] If the detected bioimpedance value is greater than the first threshold, it is determined to be in a suspended state, the output of radio frequency energy is prohibited, and the Z-axis lifting mechanism is controlled to perform secondary pressure compensation.

[0030] If the detected bioimpedance value is less than the second threshold, it is determined to be a short circuit or contact with hard bone tissue, and the output of radio frequency energy is prohibited and an abnormal alarm is issued.

[0031] Wherein, the second threshold is less than the first threshold.

[0032] Preferably, the energy triggering module employs an impedance-energy inverse compensation algorithm during the output of radio frequency energy: real-time acquisition of the current bioimpedance value. ;

[0033] According to the formula Calculate the target output power ,in The preset gain coefficient, The fundamental power constant;

[0034] By adjusting the PWM duty cycle of the RF generator, the actual output power is made to match the target output power. The absolute error is kept within a preset range to ensure that the actual thermal effect is consistent under different skin moisture contents.

[0035] Preferably, in the positioning control module, the preset scanning path adopts a chessboard-style jump strategy:

[0036] The treatment area is divided into multiple nodes arranged in a grid pattern;

[0037] Plan the movement sequence so that there is at least one grid unit of space between the current node and the next node that will be executed sequentially in time;

[0038] By spatially shifting and moving, untreated areas are used as heat dissipation zones to prevent thermal damage caused by heat accumulation between adjacent nodes.

[0039] Preferably, in the feed control module, the motion speed curve controlling the Z-axis lifting mechanism is a trapezoidal speed change curve:

[0040] Approach segment: Before the microneedle array touches the skin, control the Z-axis to advance at high speed to shorten the idle travel time;

[0041] Insertion stage: 0.5 mm to 2 mm before the microneedle array is expected to contact the skin surface, it automatically switches to low-speed uniform feed to reduce the mechanical impact and pain at the moment of needle insertion.

[0042] Preferably, it also includes a medium coating prompt module:

[0043] It is used to determine whether the skin surface is coated with conductive gel by measuring the reference impedance value when the microneedle array initially contacts the skin;

[0044] If the reference impedance value is higher than the preset dry skin threshold, a voice or light effect prompt will be issued, requiring the operator to apply more conductive medium and locking the subsequent operation until the impedance reaches the standard.

[0045] This application also discloses a radio frequency microneedle spaced needle body movement synchronous energy output system, including:

[0046] The execution end includes a microneedle array and a temperature sensor integrated into the microneedle base;

[0047] Drive module: includes XY axis lead screw slides for planar positioning, and Z axis linear motor for vertical feed;

[0048] Control core: includes RF generator, impedance detection circuit and microprocessor;

[0049] Microprocessor: Configured to execute any of the above methods to achieve interlocked control of mechanical movement and energy output by coordinating the locked state of the XY axis lead screw slide with the excitation state of the radio frequency generator.

[0050] The present invention has the following beneficial effects:

[0051] 1. Extremely high mechanical safety: Through a strict timing logic of movement-locking-insertion-firing-retraction-unlocking, the possibility of the needle moving under the skin is fundamentally eliminated, effectively avoiding medical accidents.

[0052] 2. Uniformity of treatment effect: The introduction of a bio-impedance adaptive algorithm solves the problem of uneven heating caused by impedance differences in different parts of the body, ensuring consistent treatment effect across the entire face.

[0053] 3. Precise pain management: The variable-speed insertion strategy and micron-level depth control significantly reduce patient pain and postoperative edema.

[0054] 4. Intelligent anomaly protection: It has a triple safety mechanism to prevent dry-firing, short-circuit, and displacement, which significantly improves the clinical reliability of the equipment. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the hardware architecture of the radio frequency microneedle spaced needle body movement synchronous energy output system provided in an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the main flow of the control method provided in an embodiment of the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0059] In the description of this invention, unless otherwise stated, "multiple" means two or more. Terms such as center, longitudinal, transverse, upper, lower, left, right, inner, outer, front end, rear end, head, tail, vertical, horizontal, top, bottom, inner, and outer indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, terms such as first, second, and third are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0060] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms installation, connection, and linking should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0061] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0062] like Figure 1 As shown, this invention provides a radiofrequency microneedle spaced needle movement synchronous energy output system, which is the basic physical platform for realizing the control method of this invention. The system mainly consists of a handheld treatment end, a main control end, and connecting cables.

[0063] 1. Microneedle array module;

[0064] The microneedle array module is an actuator that comes into direct contact with human skin. In this embodiment, the module adopts a disposable aseptic design and includes an insulating base made of polymer material and 25 (5x5 matrix arrangement) or 49 (7x7 matrix arrangement) solid microneedles embedded in the base.

[0065] The microneedle body is primarily made of medical-grade 316L stainless steel, with a finely polished surface. To improve biocompatibility and conductivity, the needle surface is coated with a gold layer with a thickness of 2 to 5 micrometers. To achieve precise deep heating while protecting the epidermis from burns, the microneedle body employs a segmented insulation design: most of the needle body is covered with a pyrene insulating coating, with the gold conductive layer exposed only in a 0.3 mm to 0.5 mm area at the tip. This structure ensures that radiofrequency energy is released only into the target tissue deep within the dermis, without heating the epidermis.

[0066] In addition, the microneedle base integrates a highly sensitive NTC thermistor or thermopile sensor, with the sensor probe located close to the root of the microneedle, for non-contact or contact acquisition of subcutaneous temperature in the treatment area.

[0067] 2. Three-axis drive mechanism;

[0068] The drive mechanism is the core component that enables intermittent movement and vertical insertion, and its motion precision directly determines the precision of the treatment.

[0069] XY-axis horizontal movement mechanism: Responsible for planar positioning of the microneedle array on the skin surface. This mechanism consists of two sets of orthogonally arranged miniature precision linear slides. Each axis is driven by a two-phase hybrid stepper motor with a step angle of 1.8 degrees. A ball screw with a lead of 1mm is connected to the motor shaft end. To eliminate backlash, the ball screw nut employs a backlash-free structure. The system is equipped with a high-resolution optical encoder for position feedback, forming a fully closed-loop control system with a repeatability accuracy of ±0.01mm.

[0070] Z-axis lifting mechanism: Responsible for the vertical insertion and withdrawal of the microneedle array. Considering that the insertion action requires extremely high instantaneous acceleration to reduce pain, the Z-axis preferably uses a voice coil motor or a low-inertia DC servo motor for direct drive. The Z-axis travel range is designed from 0mm to 5mm, which can cover all treatment depths currently required in clinical practice (typically 0.5mm to 3.5mm). The Z-axis is also equipped with a Hall sensor for zero-position detection.

[0071] 3. Energy output control system;

[0072] Main controller: Employs a high-performance 32-bit microcontroller based on an ARM Cortex-M4 or M7 core, with a clock frequency of no less than 168MHz, to meet the requirements of real-time multitasking. The main controller runs a real-time operating system internally, responsible for path planning, motion interpolation, PID temperature control algorithms, and safety logic judgments.

[0073] RF Generator: Employs DDS technology to generate 1MHz or 2MHz sinusoidal RF signals. The power amplifier stage uses a Class-E or Class-D topology, offering high efficiency and low heat generation. Output power is continuously adjustable from 0 watts to 50 watts with an adjustment accuracy of 0.1 watts.

[0074] Impedance detection circuit: This circuit is connected in series between the RF power output stage and the microneedle load. The circuit includes a wideband current transformer for detecting loop current and a voltage divider resistor network for detecting loop voltage. The acquired analog signal is conditioned by a high-speed operational amplifier and then sampled by the 12-bit ADC (analog-to-digital converter) inside the MCU. The MCU calculates the complex impedance of the biological tissue using Ohm's law (R=U / I) and the phase difference.

[0075] Example 2: Detailed Explanation of Control Methods and Logic Flow;

[0076] like Figure 2 As shown, this embodiment details the software operation flow of the control system. This flow aims to solve the problems of scratches and uneven energy distribution through strict timing control.

[0077] Step S1: Path planning and precise positioning;

[0078] After the system is powered on and initialized, the operator sets the size of the treatment area (e.g., 20mm x 20mm) and the treatment density on the human-machine interface.

[0079] The main controller's path planning module no longer uses the traditional bow-shaped line-by-line scanning, but instead generates optimized checkerboard-style jump paths or random discrete paths. For example, the treatment points are arrayed into a grid, and the controller plans the movement sequence according to the non-adjacent principle, meaning that the current treatment point and the next treatment point are physically separated by at least one grid unit. The scientific basis of this strategy is that radiofrequency treatment generates a heat diffusion field under the skin. If adjacent points are continuously heated, the heat accumulation can easily lead to excessively high local temperatures and burns. Jump movement utilizes untreated areas as natural heat dissipation zones, significantly improving thermal safety.

[0080] During movement, the main controller sends a pulse sequence to the XY-axis stepper motors. When the grating ruler feedback value equals the target coordinate, the motor stops. At this time, the controller does not cut off the motor current, but maintains 50% to 80% of the rated current as a holding current, so that the motor generates sufficient holding torque to mechanically lock the XY axes.

[0081] Step S2: Variable speed vertical insertion;

[0082] After XY-axis locking is confirmed, Z-axis movement begins. To balance treatment efficiency and patient pain, this invention innovatively employs a segmented variable-speed insertion algorithm:

[0083] Phase 1 (Rapid Approach): During the Z-axis movement from zero to a position approximately 1 mm above the skin surface, the controller drives the motor at its maximum speed (e.g., 100 mm / s). The purpose of this phase is to minimize non-treatment time and improve work efficiency.

[0084] The second stage (gentle insertion): When the needle reaches the critical point 1 mm from the skin, the controller immediately reduces the speed to 20 mm / s to 30 mm / s. The needle tip contacts and pierces the epidermis with lower momentum. Compared to high-speed impact, low-speed insertion significantly reduces mechanical stimulation of the nerve endings in the epidermis, thereby alleviating the patient's immediate pain.

[0085] The third stage (position braking): When the preset depth (e.g., 3.0mm) is reached, the Z-axis motor stops abruptly and maintains the position servo state to ensure that the needle tip depth error does not exceed ±0.1mm.

[0086] Step S3: Bioimpedance handshake verification;

[0087] This is the core step in ensuring the safety of this invention. In traditional devices, high-energy radio frequency is emitted directly after the needle is in place. If the needle does not penetrate or makes poor contact at this time, it can lead to severe arc burns.

[0088] In this invention, after the needle is in place, the radio frequency generator first outputs a detection pulse. The frequency of this pulse is the same as the treatment frequency (1MHz / 2MHz), but the voltage is extremely low (less than 5V), the duration is extremely short (less than 10ms), and the energy is extremely low, insufficient to produce a thermal effect, and it is only used for measurement.

[0089] The impedance detection circuit acquires the response of the pulse in the loop and calculates the impedance value. The MCU executes the following three-level decision logic:

[0090] Open path judgment: If >2000 (This threshold is adjustable) If the system determines that the microneedle is suspended or only in contact with the stratum corneum (dry insulation), it will prohibit the emission of treatment energy and control the Z-axis to automatically press down to compensate for a certain distance, or alarm to prompt the doctor to check the fit.

[0091] Short circuit detection: If <50 If the system determines that there is a metal short circuit between the microneedles (such as the needles bending and touching each other) or that the needle tip is touching the bone or implanted metal, the system will immediately alarm and forcibly stop the process.

[0092] Effective coupling: only when 50 2000 At that time, the system determines that the needle has correctly pierced the water-rich dermis and generates a handshake success marker.

[0093] Step S4: Synchronize energy output and adaptive control;

[0094] Once the handshake is successful, the system enters the energy emission phase. This phase contains two parallel control loops:

[0095] Loop 1: Impedance-power adaptive control;

[0096] Because the skin thickness and moisture content vary greatly in different areas of the human face, its impedance value also varies accordingly. To ensure consistent treatment, the controller adjusts the impedance value based on real-time data. Dynamically adjust radio frequency power The adjustment is based on a preset inverse proportional function model:

[0097]

[0098] in, The energy density coefficient, Based on base power.

[0099] The physical meaning of this algorithm is as follows: in areas with low impedance (such as the cheek, where conductivity is good), the system appropriately increases power to maintain sufficient heat deposition; in areas with high impedance (such as the forehead, where conductivity is poor), the system automatically reduces power to prevent excessive voltage from causing breakdown or severe pain. This adjustment is refreshed every 10 milliseconds to ensure accuracy throughout.

[0100] Loop 2: Time-division multiplexing temperature monitoring;

[0101] Since radio frequency energy is essentially a high-frequency electromagnetic wave, it can severely interfere with the weak voltage signal of the thermistor. To solve this problem, this invention employs time-division multiplexing technology.

[0102] The controller divides a radio frequency transmit cycle (e.g., 100ms) into two windows on the time axis:

[0103] Transmit window (95ms): The RF power stage operates and outputs energy. During this time, the MCU internally disconnects the ADC sampling channel or ignores the temperature reading to avoid interference.

[0104] Detection window (5ms): The RF power stage pauses operation (output is 0). At this time, the electromagnetic environment is silent, and the MCU activates the ADC channel to quickly acquire the thermistor signal to obtain the true subcutaneous temperature.

[0105] If the detected temperature exceeds the safety threshold (such as 42℃ or 43℃), the controller will force the RF power to zero in the next cycle to achieve overheat protection.

[0106] Step S5: Safety monitoring and reset;

[0107] Throughout the entire radio frequency transmission process, the system also runs a background security thread: displacement detection.

[0108] The system continuously monitors the first derivative (rate of change) of bioimpedance values. During normal treatment, the impedance value will slowly decrease as the temperature rises. If a drastic fluctuation in the impedance value is detected within a very short time (e.g., within 5ms) (the rate of change exceeds the threshold), the system determines that the following situations may have occurred: the patient violently shakes their head due to pain, the handle slips, or the microneedle is accidentally pulled out.

[0109] Once the condition is triggered, the controller will cut off the radio frequency circuit within microseconds and simultaneously trigger the Z-axis motor's emergency retraction command to prevent the charged needle from scratching the skin.

[0110] After treatment is completed and energy is cut off, the Z-axis drives the microneedle to retract vertically upwards to zero. Once the position sensor confirms the Z-axis reset, the main controller releases the locking current of the XY-axis motors, allowing them to move to the next coordinate point and begin a new cycle.

[0111] Example 3: Layered treatment model;

[0112] As a preferred embodiment of the present invention, the system also supports an advanced mode of single needle insertion and multi-layer heating.

[0113] In step S4, the microneedle is first inserted to a depth of 3.5mm, emitting the first wave of energy to treat the reticular dermis. After emission, the needle is not withdrawn from the skin but is instead raised to a depth of 1.5mm using Z-axis control. At this point, the needle remains within the dermis. The system then performs an impedance handshake again and emits a second wave of energy based on the new depth impedance, targeting the papillary dermis. Finally, the needle is completely withdrawn. This mode significantly reduces the number of needle insertions, minimizes the cumulative mechanical damage to the epidermis, and achieves a three-dimensional anti-aging effect.

[0114] In summary, this invention, through precise mechanical control logic and intelligent electronic feedback algorithm, perfectly solves the core problems of existing radiofrequency microneedle technology, such as high risk of mechanical damage, uneven treatment effects, and lack of safety monitoring.

[0115] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A control device for synchronous energy output during the intermittent movement of a radio frequency microneedle, characterized in that, The control device, applicable to a treatment system comprising a microneedle array, an XY-axis horizontal movement mechanism, a Z-axis lifting mechanism, and a radiofrequency generator, includes: The positioning control module is used to control the XY-axis horizontal moving mechanism to drive the microneedle array to the current target point coordinates according to the preset scanning path; After confirming the arrival at the coordinates, the XY-axis horizontal movement mechanism is locked, putting it into a horizontal self-locking state; The feed control module is used to control the Z-axis lifting mechanism to drive the microneedle array to feed vertically so that it reaches the preset working depth; The impedance detection handshake module is used to send a microampere-level test current to the microneedle array before the RF energy output to detect the bioimpedance value of the circuit. A handshake signal is generated only when the bioimpedance value is within a preset effective coupling range; An energy triggering module is used to trigger the radio frequency generator to output radio frequency energy after receiving the handshake signal; The dynamic displacement monitoring safety module is used to continuously monitor the rate of change of bioimpedance values ​​during radio frequency energy output. If the rate of change of bioimpedance exceeds the preset sliding threshold during a single energy output, it is determined that the microneedle array has undergone relative displacement with the skin, the radio frequency output is immediately cut off, and the Z-axis is triggered to lift urgently. The retraction unlocking module is used to control the Z-axis lifting mechanism to drive the microneedle array to retract to a safe height after the energy output is completed. After confirming that the Z-axis has retracted to the correct position, release the lock on the XY-axis horizontal movement mechanism and execute the movement command for the next target point. The energy triggering module uses time-division multiplexing for energy output and temperature detection. Divide a complete energy output cycle into several microsecond-level time slices; During the transmission window of each time slice, the radio frequency generator is turned on to output energy, while the signal channel of the temperature sensor is shielded to prevent interference. During the detection window of each time slice, the radio frequency generator is temporarily turned off, while the signal channel of the temperature sensor is turned on to collect the tip temperature. If the collected tip temperature exceeds the safety threshold, the current energy output cycle will be forcibly terminated. The control device is also configured to perform layered needle withdrawal treatment: The microneedle array is controlled to first reach the deepest first working depth and output the first dose of radio frequency energy; Maintain XY axis locking, control Z axis lifting mechanism to raise to a shallower second working depth, and output second dose of radio frequency energy; The first dose is greater than the second dose, so as to form an inverted pyramid-shaped thermal coagulation field during a single needle insertion.

2. The control device according to claim 1, characterized in that, In the impedance detection handshake module, determining whether the bio-impedance value is within a preset effective coupling range specifically includes anti-dry-fire and anti-short-circuit logic: If the detected bioimpedance value is greater than the first threshold, it is determined to be in a suspended state, the output of radio frequency energy is prohibited, and the Z-axis lifting mechanism is controlled to perform secondary pressure compensation. If the detected bioimpedance value is less than the second threshold, it is determined to be a short circuit or contact with hard bone tissue, and the output of radio frequency energy is prohibited and an abnormal alarm is issued. Wherein, the second threshold is less than the first threshold.

3. The control device according to claim 1, characterized in that, The energy triggering module employs an impedance-energy inverse compensation algorithm during the output of radio frequency energy: it acquires the current bioimpedance value in real time. ; According to the formula Calculate the target output power ,in The preset gain coefficient, The fundamental power constant; By adjusting the PWM duty cycle of the RF generator, the actual output power is made to match the target output power. The absolute error is kept within a preset range to ensure that the actual thermal effect is consistent under different skin moisture contents.

4. The control device according to claim 1, characterized in that, In the positioning control module, the preset scanning path adopts a chessboard-style jump strategy: The treatment area is divided into multiple nodes arranged in a grid pattern; Plan the movement sequence so that there is at least one grid unit of space between the current node and the next node that will be executed sequentially in time; By spatially shifting and moving, untreated areas are used as heat dissipation zones to prevent thermal damage caused by heat accumulation between adjacent nodes.

5. The control device according to claim 1, characterized in that, In the feed control module, the motion speed curve of the Z-axis lifting mechanism is a trapezoidal speed change curve: Approach segment: Before the microneedle array touches the skin, control the Z-axis to advance at high speed to shorten the idle travel time; Insertion stage: 0.5 mm to 2 mm before the microneedle array is expected to contact the skin surface, it automatically switches to low-speed uniform feed to reduce the mechanical impact and pain at the moment of needle insertion.

6. The control device according to claim 1, characterized in that, It also includes a medium coating prompt module: It is used to determine whether the skin surface is coated with conductive gel by measuring the reference impedance value when the microneedle array initially contacts the skin; If the reference impedance value is higher than the preset dry skin threshold, a voice or light effect prompt will be issued, requiring the operator to apply more conductive medium and locking the subsequent operation until the impedance reaches the standard.

7. A radio frequency microneedle spaced needle body movement synchronous energy output system, characterized in that, include: The execution end includes a microneedle array and a temperature sensor integrated into the microneedle base; Drive module: includes XY axis lead screw slides for planar positioning, and Z axis linear motor for vertical feed; Control core: includes RF generator, impedance detection circuit and microprocessor; Microprocessor: configured to implement the functions of each module of the control device as described in any one of claims 1 to 6, and to achieve interlocked control of mechanical movement and energy output by coordinating the locked state of the XY axis lead screw slide and the excitation state of the radio frequency generator.

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